version: 66.11
glider: 187
mission: 2
dive: 496
start: 1 15 113 20 0 17
data:
$ID,187
$MISSION,2
$DIVE,496
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1040
$D_NO_BLEED,200
$D_BOOST,4
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,470
$T_MISSION,520
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,10
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,140
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51761
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0031000001
$HD_B,0.0093
$HD_C,4.5000001e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,3
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1588613.5
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,155
$PITCH_MAX,3970
$C_PITCH,3195
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,32
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,236
$ROLL_MAX,3800
$ROLL_DEG,40
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2325
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,42
$R_STBD_OVSHOOT,28
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,470
$VBD_MAX,3960
$C_VBD,2794
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00039999999
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,20
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-61.06522
$PRESSURE_SLOPE,0.0001138132
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,12
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,3
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.69999999
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,83
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043543722
$SEABIRD_T_H,0.00062483409
$SEABIRD_T_I,2.3277114e-05
$SEABIRD_T_J,2.4402393e-06
$SEABIRD_C_G,-9.9786949
$SEABIRD_C_H,1.1107863
$SEABIRD_C_I,-0.0017547003
$SEABIRD_C_J,0.0002234884
$GPS1,150113,195253,4748.881,-12514.375,25,1.0,42,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.40
$_SM_ANGLEo,-78.6
$GPS2,150113,195943,4748.874,-12514.370,12,1.8,12,18.7
$SPEED_LIMITS,0.122,0.210
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.160,-0.151
$KALMAN_X,28840.3,-242.5,2380.9,-124483.9,-7867.0
$KALMAN_Y,16218.2,688.6,-1323.7,-71650.8,4158.7
$MHEAD_RNG_PITCHd_Wd,210.5,161223,-13.3,-7.021,-18.50
$D_GRID,482
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.47,-136.3,0.0,0.0,0,74,0.00,0.00,-55.58,0.000,2,0.000,0.000,106,2191,2711,0,0,0,0,0,0,28.83,28.83,28.83
$GC,78,-0.47,-136.3,3.2,-1.5,10,115,11.57,2.35,-15.82,0.000,4,0.216,0.076,3023,3600,3352,0,0,0,0,0,0,24.75,25.47,26.25
$GC,234,-0.47,-136.3,27.1,-13.1,39,241,0.00,2.17,0.00,0.000,6,0.000,0.043,3023,2196,3355,0,0,0,0,0,0,28.83,25.70,28.83
$GC,546,-0.47,-136.3,69.7,-12.7,100,551,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2189,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,856,-0.47,-136.3,106.5,-10.6,161,863,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2189,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1171,-0.47,-136.3,139.2,-10.6,199,1180,0.00,2.22,0.00,0.000,4,0.000,0.050,3023,791,3355,0,0,0,0,0,0,28.83,25.70,28.83
$GC,1221,-0.47,-136.3,144.5,-10.6,204,1230,0.00,2.25,0.00,0.000,6,0.000,0.050,3014,2198,3355,0,0,0,0,0,0,28.83,25.71,28.83
$GC,1532,-0.47,-136.3,175.4,-10.1,225,1541,0.00,2.30,0.00,0.000,4,0.000,0.062,3004,3612,3355,0,0,0,0,0,0,28.83,25.60,28.83
$GC,1591,-0.47,-136.3,181.7,-10.3,231,1601,0.15,2.25,0.00,0.000,6,0.122,0.042,3048,2186,3355,0,0,0,0,0,0,25.65,25.86,28.83
$GC,1912,-0.47,-136.3,209.8,-9.0,251,1913,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2186,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2211,-0.47,-136.3,234.2,-7.8,266,2213,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2186,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2511,-0.47,-136.3,256.7,-7.3,281,2512,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2186,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2812,-0.47,-136.3,276.7,-6.2,296,2813,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2186,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3111,-0.47,-136.3,295.2,-6.5,311,3117,0.00,2.33,0.00,0.000,4,0.000,0.062,3040,3606,3355,0,0,0,0,0,0,28.83,25.58,28.83
$GC,3139,-0.47,-136.3,296.5,-6.6,312,3144,0.00,2.22,0.00,0.000,6,0.000,0.043,3040,2201,3355,0,0,0,0,0,0,28.83,25.86,28.83
$GC,3442,-0.47,-136.3,319.3,-7.4,327,3443,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2199,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3742,-0.47,-136.3,339.4,-6.7,342,3747,0.00,2.30,0.00,0.000,4,0.000,0.063,3030,3604,3355,0,0,0,0,0,0,28.83,25.56,28.83
$GC,3789,-0.47,-136.3,342.2,-6.7,344,3793,0.00,2.22,0.00,0.000,6,0.000,0.044,3030,2200,3355,0,0,0,0,0,0,28.83,25.84,28.83
$GC,4092,-0.47,-136.3,366.0,-8.1,359,4093,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2199,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4391,-0.47,-136.3,389.4,-8.0,374,4397,0.00,2.30,0.00,0.000,4,0.000,0.063,3020,3601,3354,0,0,0,0,0,0,28.83,25.53,28.83
$GC,4433,-0.47,-136.3,392.6,-8.2,376,4437,0.00,2.20,0.00,0.000,6,0.000,0.044,3020,2210,3355,0,0,0,0,0,0,28.83,25.83,28.83
$GC,4742,-0.47,-136.3,420.3,-9.0,388,4747,0.00,2.22,0.00,0.000,4,0.000,0.051,3020,800,3354,0,0,0,0,0,0,28.83,25.65,28.83
$GC,4789,-0.47,-136.3,423.1,-9.0,389,4793,0.00,2.25,0.00,0.000,6,0.000,0.052,3013,2200,3354,0,0,0,0,0,0,28.83,25.65,28.83
$GC,5091,-0.47,-136.3,451.6,-8.9,399,5097,0.10,2.30,0.00,0.000,4,0.155,0.063,3032,3608,3354,0,0,0,0,0,0,26.15,25.51,28.83
$GC,5152,-0.47,-136.3,456.1,-8.0,401,5157,0.00,2.22,0.00,0.000,6,0.000,0.044,3033,2197,3353,0,0,0,0,0,0,28.83,25.82,28.83
$GC,5481,-0.47,-136.3,478.6,-7.0,412,5487,0.00,2.25,0.00,0.000,4,0.000,0.051,3032,788,3353,0,0,0,0,0,0,28.83,25.64,28.83
$GC,5511,-0.47,-136.3,481.0,-7.2,413,5517,0.00,2.28,0.00,0.000,6,0.000,0.052,3029,2198,3353,0,0,0,0,0,0,28.83,25.63,28.83
$STATE,5539,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5539,begin apogee
$GC,5547,-0.22,0.0,483.4,-7.5,414,5668,0.28,0.00,117.90,0.845,6,0.110,0.000,3124,2335,2793,0,0,0,0,0,0,25.72,28.83,23.51
$STATE,5669,end apogee,CONTROL_FINISHED_OK
$STATE,5669,begin climb
$GC,5672,0.47,136.3,488.1,0.0,418,5801,0.65,0.00,121.30,0.814,6,0.078,0.000,3345,2335,2236,0,0,0,0,0,0,24.84,28.83,23.15
$GC,6106,0.49,181.5,469.5,5.2,433,6149,0.00,2.30,38.35,0.819,4,0.000,0.052,3356,921,2055,0,0,0,0,0,0,28.83,25.18,23.89
$GC,6219,0.50,201.9,462.4,6.2,436,6243,0.00,2.30,18.88,0.779,6,0.000,0.052,3355,2319,1970,0,0,0,0,0,0,28.83,25.38,23.93
$GC,6561,0.50,201.9,436.6,7.3,448,6567,0.00,2.35,0.00,0.000,4,0.000,0.065,3355,3734,1963,0,0,0,0,0,0,28.83,25.55,28.83
$GC,6592,0.50,201.9,434.1,7.5,449,6598,0.00,2.25,0.00,0.000,6,0.000,0.047,3364,2333,1962,0,0,0,0,0,0,28.83,25.72,28.83
$GC,6921,0.50,201.9,404.5,9.2,460,6927,0.00,2.30,0.00,0.000,4,0.000,0.054,3373,914,1962,0,0,0,0,0,0,28.83,25.69,28.83
$GC,7009,0.50,201.9,397.2,9.1,463,7013,0.00,2.30,0.00,0.000,6,0.000,0.054,3373,2335,1961,0,0,0,0,0,0,28.83,25.71,28.83
$GC,7313,0.50,201.9,365.1,10.6,478,7314,0.00,0.00,0.00,0.000,6,0.000,0.000,3373,2335,1960,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7611,0.50,201.9,335.0,9.8,493,7617,0.00,2.30,0.00,0.000,4,0.000,0.054,3382,920,1960,0,0,0,0,0,0,28.83,25.72,28.83
$GC,7651,0.50,201.9,331.3,9.6,495,7657,0.00,2.28,0.00,0.000,6,0.000,0.054,3382,2326,1960,0,0,0,0,0,0,28.83,25.73,28.83
$GC,7972,0.50,201.9,301.5,9.1,511,7973,0.00,0.00,0.00,0.000,6,0.000,0.000,3382,2326,1959,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8273,0.50,201.9,274.7,9.1,526,8278,0.00,2.22,0.00,0.000,4,0.000,0.054,3392,917,1959,0,0,0,0,0,0,28.83,25.72,28.83
$GC,8301,0.50,201.9,272.1,9.0,527,8308,0.12,2.28,0.00,0.000,6,0.135,0.054,3358,2325,1959,0,0,0,0,0,0,25.61,25.72,28.83
$GC,8621,0.50,201.9,249.4,7.6,543,8627,0.00,2.28,0.00,0.000,4,0.000,0.054,3365,920,1959,0,0,0,0,0,0,28.83,25.70,28.83
$GC,8649,0.50,201.9,247.9,7.5,544,8653,0.00,2.28,0.00,0.000,6,0.000,0.053,3365,2326,1959,0,0,0,0,0,0,28.83,25.71,28.83
$GC,8951,0.50,201.9,223.3,7.9,559,8952,0.00,0.00,0.00,0.000,6,0.000,0.000,3365,2326,1958,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9252,0.50,201.9,198.7,8.4,574,9260,0.00,2.25,0.00,0.000,4,0.000,0.054,3372,926,1958,0,0,0,0,0,0,28.83,25.70,28.83
$GC,9292,0.50,201.9,195.2,8.8,578,9300,0.00,2.28,0.00,0.000,6,0.000,0.053,3373,2334,1958,0,0,0,0,0,0,28.83,25.70,28.83
$GC,9602,0.50,201.9,167.5,8.7,599,9604,0.00,0.00,0.00,0.000,6,0.000,0.000,3373,2333,1958,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9902,0.50,201.9,144.9,7.2,619,9903,0.00,0.00,0.00,0.000,6,0.000,0.000,3373,2334,1958,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10202,0.51,227.7,124.7,6.0,639,10232,0.00,2.25,22.27,0.619,4,0.000,0.052,3382,915,1863,0,0,0,0,0,0,28.83,25.65,24.12
$GC,10273,0.52,260.3,120.8,5.7,646,10308,0.00,2.28,28.48,0.622,6,0.000,0.053,3381,2325,1732,0,0,0,0,0,0,28.83,25.63,24.19
$GC,10615,0.52,260.3,95.3,7.9,711,10621,0.00,0.00,0.00,0.000,6,0.000,0.000,3381,2325,1726,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10927,0.53,278.5,74.0,6.3,772,10951,0.00,2.28,15.65,0.574,4,0.000,0.054,3389,917,1657,0,0,0,0,0,0,28.83,25.72,24.38
$GC,10989,0.54,298.9,69.9,6.2,783,11014,0.00,2.22,18.38,0.575,6,0.000,0.051,3389,2337,1574,0,0,0,0,0,0,28.83,25.64,24.34
$GC,11322,0.56,351.9,49.5,4.9,847,11369,0.00,0.00,43.90,0.575,6,0.000,0.000,3389,2337,1358,0,0,0,0,0,0,28.83,28.83,24.34
$GC,11677,0.57,386.2,30.4,5.7,915,11712,0.00,2.25,28.17,0.560,4,0.000,0.050,3392,919,1217,0,0,0,0,0,0,28.83,25.53,24.39
$GC,11752,0.59,420.9,26.1,5.6,928,11788,0.00,2.22,28.50,0.548,6,0.000,0.050,3392,2327,1076,0,0,0,0,0,0,28.83,25.52,24.29
$STATE,11979,end climb,SURFACE_DEPTH_REACHED
$STATE,11980,begin surface coast
$FINISH,1.4,1.022637
$STATE,12018,end surface coast,CONTROL_FINISHED_OK
$STATE,12018,begin surface
$SM_CCo,12099,0.00,0.000,0,0,1067,423.63
$SM_GC,2.40,8.40,0.20,0.00,0.028,0.072,0.000,112,2187,1067,-9.46,1.10,423.63,0,0,0,0,0,0,25.91,25.86,28.83
$IRIDIUM_FIX,4732.49,-12514.75,150113,151511
$TT8_MAMPS,0.026964,0.026964
$HUMID,46.37
$INTERNAL_PRESSURE,9.04993
$TCM_TEMP,19.10
$XPDR_PINGS,2
$24V_AH,23.1,68.882
$10V_AH,9.9,54.882
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,21.275,86.500,481.775,0.000,0.000,24.673,36.471,215.386,0.500,0.000,13.589,2390.456,7442.175,615.336,1775.849,285.920,0.000,1448.291,0.000,1499.326,0.000,0.536,0.000
$DEVICE_MAMPS,216.495,84.150,845.325,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,669.425,617.013,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296856
$DATA_FILE_SIZE,53630,979
$CAP_FILE_SIZE,111898,0
$CFSIZE,260165632,216215552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.100, 24.7,1
$GPS,150113,232306,4748.215,-12516.080,32,0.9,32,18.7